CN102597414A - Articulated apparatus for handling a drilling tool - Google Patents
Articulated apparatus for handling a drilling tool Download PDFInfo
- Publication number
- CN102597414A CN102597414A CN2010800511882A CN201080051188A CN102597414A CN 102597414 A CN102597414 A CN 102597414A CN 2010800511882 A CN2010800511882 A CN 2010800511882A CN 201080051188 A CN201080051188 A CN 201080051188A CN 102597414 A CN102597414 A CN 102597414A
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- China
- Prior art keywords
- arm
- hinge joint
- group
- actuator
- drilling tool
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/24—Guiding or centralising devices for drilling rods or pipes
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
- E21B19/165—Control or monitoring arrangements therefor
Abstract
An articulated apparatus (10) for handling a drilling to has a base (12), a first set of arms (14) pivotally connected at one end to the base (12) and extending outwardly therefrom, a joint member (16) pivotally connected to an opposite end of the first set of arms, a second set of arms (18) pivotally connected at one end of to the joint member (16) and extending outwardly therefrom, and a carrier assembly (20) pivotally connected to an opposite end of the second set of arms. The carrier assembly is suitable for carrying the drilling tool (26) so as to allow the drilling tool to move upwardly and downwardly. A drive system is cooperative with the first and second sets of arms so as to move the drilling tool between a stowed position and a deployed position.
Description
Technical field
The present invention relates to a kind of hinge apparatus that is used to carry drilling tool.More particularly, the hinge apparatus that the present invention relates to has many group telescopic arms that drilling tool is moved between memory location and expanded position.More specifically, the horizontal and vertical position of structural establishment scalable drilling tool of the present invention.
Background technology
In the industry of oil and natural gas body, in the position of contiguous well head, need to install a plurality of drilling tools.Usually, drill string is bored by drilling rod and bottom and very forms.In the installation process of such drill string, a plurality of parts must be in the same place to be threaded with effective method fast.Under other situation, drilling tool must move on the position on well head or the rat hole.In most of drill-well operation, drilling tool must be with fast, effective and safe method operation.
The attended operation of drill string be almost be with daily the routine carried out of basis and a hard row to hoe.The equipment that is commonly called power tongs or driller is normally used for accomplishing or removing the threading tool joint connection of drill string.In normal running, must comprise on well head or the rat hole and mobile power tongs or driller between the memory location in a plurality of positions.Because the weight of such device, move the such equipment difficulty normally on the rig.In addition, around well head, there is very limited space, likewise, in limited space availability, needs effectively carrying.In addition, the needs of the equipment of mobile such weight possibly produce the accident that possibly damage drilling equipment and injury drilling implementer usually in so limited zone.In the past, a kind of method that is used for transporting before and after the well head power tongs or driller is that this unit is installed in the chassis that is installed in the track on the rig floor a pair of.Adopt the problem of this structure to be, the track that is installed on the rig floor produces the danger that trips to the drilling implementer usually.When a plurality of positions of needs when moving this unit, this difficulty and very complicated that becomes.The track that is installed on the rig floor like this occupies too many space usually on derrick.
Employed another kind of means is the telescopic arm by Driven by Hydraulic Cylinder.Such conveyer needs additional space and is expensive to manufacture.The conveyer of these types also is limited for needs and size are transported in load-carrying.
Another kind of means that moves that is used to accomplish a plurality of drilling equipments is through adopting C-type mechanism to make tong or driller's swing, and therein, this unit is suspended on the top of this structure pivotally.Adopt a problem of such device to be, it is difficult locating this unit, because the weight of this unit keeps the upright position.In addition, it is restricted to and has the short relatively ability of stretching out.
In the past, a plurality of United States Patent (USP)s that relate to such handling equipment are disclosed.For example, November in 1980, people's such as disclosed Mee on the 18th U.S. Patent number 4234150 was described a kind of mechanical arm assembly, and therein, end can move with respect to its near-end along straight line.Articulated jib comprises the first arm that combines the first parallelogram bindiny mechanism and second arm that comprises the second parallelogram bindiny mechanism.These approach ends of parallelogram bindiny mechanism are connected to each other drivingly; The geometry of the first arm rotation around in the first end support portion change first parallelogram bindiny mechanism thus, it causes the corresponding change of the geometry of the second parallelogram bindiny mechanism again.This end that causes second arm is along straight line moving with respect to the near-end of the first arm.
June in 1981, people's such as disclosed Putnam on the 23rd U.S. Patent number 4274778 illustrated the mechanization stand handling equipment that is used for rig.This equipment is applicable to that carrying is bored very and the pipe stand.This equipment is made up of the fingerboard securing rod that is applicable to the Long-distance Control that the stand in the derrick is placed of mechanized hydraulic rigger and combination.This allows device to align with turntable and is placed on fully during frame refers to.The stand carrying mechanism has can be by the articulated jib that fully is contained in the actuator device stretching, extension in its scope.
September in 1997, people's such as disclosed Lorenz on the 16th United States Patent (USP) 5667026 was described a kind of positioning equipment that is used for power tongs.This positioning equipment moves power tongs between operating position and off position.This positioning equipment has the first arm and second arm.One end of the first arm is connected to an end of second arm pivotally, and the other end of the first arm and second arm is installed on the beam that is connected to boring tower pivotally.Two arms can consistent extension and contraction, with towards moving power tongs with the operating position that is positioned at away from it around arm.
November calendar year 2001, the U.S. Patent number 6318214 of disclosed A.Buck on the 20th was instructed a kind of power tongs positioning equipment that can be positioned on the rig deck and can be connected at least one power tongs.The power tongs support portion is suitable for locating at least one power tongs, and it can engage with tubular element like this.The power tongs positioning equipment comprises framework, is positioned at the base on the framework and be connected to base and be connected to the power tongs support portion of at least one power tongs movably movably.
On February 20th, 2007, U.S. Patent No. U.S. Patent No. in number on July 31st, 7178612,2007 U.S. Patent No. in number on November 25th, 7249639 and 2008 numbers 7455128; Each has instructed a kind of spitting drill well tool that is used for, the for example arm of the automation of iron driller.The equipment of in these patents, describing rises iron driller is moved to suitable position with the assembling of the nipple that allows drill string or disassemble.This equipment also can be used to move on the center line of well other drilling equipment or the suitable position at place, mouse hole.Self-balancing, dual synchronous parallelogram arm are used to moving of finishing device.Hydraulic pressure or pneumatic cylinders are used to the extension and the contraction of arm, rather than supporting tool.Arm can be fixed on any position with instrument under the situation that does not have cylinder to help.Bindiny mechanism in the parallelogram can pass through gear, connecting rod, slit or roller completion synchronously.
With U.S. Patent number 7178612,7249639 and 7455128 relevant problems is that they have bindiny mechanism and rotating member as the excessive number of main load supporting element.These bindiny mechanisms and rotating member are easy to wearing and tearing and break down, because they bring bigger contilever load in moving process.Because simultaneous attachment mechanism is the main load path of the structure of device, so synchronising (connecting) rod maybe easy abrasion and fracture.Consider the basic structure of other parts, synchronising (connecting) rod is relatively little and fragile.The equipment that these patents are described also needs column and guide rail to absorb whole contilever loads and overturn moment from drilling equipment.The structure of the equipment of describing in these patents also is expensive to manufacture, and repairs difficulty.Usually, each parts of prior art have too many moving meter, control difficulty, and are easy to damage and fracture.In addition, because vertical pillars is arranged on the rig floor and because moving-member is positioned at the position that the workman carries out its task, so these devices are easy to cause safety risk at the rig place.Simultaneously, in these patents, whole telescopic arm walks up and down and transports drilling tool simultaneously.Guide rail moves up and down along the column that is located immediately at below the main derrick structure in space very closely.Since this space have many important electricity therein with fluid maintenance circuit, so prior art possibly often cause because the serious problem that contact and collision cause.Also possibly damage the derrick structure potentially.
A target of the present invention provides a kind of hinged handling equipment that allows drilling equipment to move to expanded position from the memory location effectively.
Another target of the present invention provides and a kind ofly will vertically move the position that is placed into contiguous well head or rat hole, away from the hinged handling equipment in the open area of derrick structure and maintenance circuit.
A further target of the present invention provides a kind of hinged handling equipment of avoiding damaging drill configuration and equipment.
Thereby another target of the present invention provides a kind of through only moving the hinged handling equipment that drilling tool distributes contilever load and overturn moment better.
A further target of the present invention provides the hinged handling equipment of a kind of easy maintenance and manufacturing.
Thereby another target of the present invention provides a kind of through adopting hydraulic pressure or pneumatic actuator to make wearing and tearing and the minimized hinged handling equipment of fault rate as main load supporting element.
A further target of the present invention provides a kind of hinged handling equipment that makes the risk minimization that damages drill configuration.
These and other target and advantage of the present invention will become clear through reading appended manual and appending claims.
Summary of the invention
The present invention is a kind of hinged handling equipment that is used to carry drilling tool.This equipment comprises base, at one end base is hinged and from its outward extending first group of arm, and the hinged connector in an opposite end of first group of arm, at one end and connector is hinged and from its outward extending second group of arm, and the hinged carrier module in an opposite end of second group of arm and be connected at least one group of at least one actuator that is used for mobile vehicle assembly between memory location and expanded position first and second groups of arms.Carrier module has the device that is used for fixing and transports drilling tool.Drive unit is connected to carrier module and is used for along the bracket component Move tool.
In the present invention, base is rotationally attached to rig floor.Hydraulic pressure or motor driven can manually operated or adopt to base.First group of arm comprises the first arm of an opposite end that has an end that is connected to base pivotally and be connected to connector pivotally and has an end that is connected to base pivotally and be connected to second arm of an opposite end of connector pivotally.The first arm is to extend with second arm parallel relation ground.Actuator devices has an opposite end that is connected in first and second arms pivotally in the end that is connected to base pivotally and the position between its end or is connected directly to connector.First group of arm also can comprise the 3rd arm of an opposite end that has an end that is connected to base pivotally and be connected to connector pivotally and have an end that is connected to base pivotally and be connected to the 4th arm of an opposite end of connector pivotally.The first arm and second arm extend in common vertical plane.The 3rd arm and the 4th arm are preferably to extend in common vertical plane on parallel spaced relation ground with the first arm and second arm respectively.
In the present invention; Second group of arm comprises the first arm of an opposite end that has an end that is connected to connector pivotally and be connected to carrier module pivotally and has an end that is connected to connector pivotally and be connected to second arm of an opposite end of carrier module pivotally.The first arm is preferably to extend on parallel relation ground with second arm.Actuator has an opposite end that is connected in first and second arms pivotally in the end that is connected to connector pivotally and the position between its end or is connected directly to carrier module.Second group of arm also can comprise the 3rd arm of an opposite end that has an end that is connected to connector pivotally and be connected to carrier module pivotally and have an end that is connected to connector pivotally and be connected to the 4th arm of an opposite end of rail assembly pivotally.The first arm and second arm extend in common vertical plane.The 3rd arm and the 4th arm are preferably to extend in common vertical plane on parallel spaced relation ground with the first arm and second arm respectively.
In the present invention; Actuator comprise have the end that is connected to base be connected in first group of arm at least one an opposite end (or being connected directly to connector) first actuator and have the end that is connected to connector and at least one second actuator of an opposite end (or being connected directly to carrier module) that is connected in second group of arm.As used herein, a plurality of actuators can be used as first actuator and second actuator.Fluid delivery system is connected to first and second actuators, is used to deliver the fluid to actuator, like this, actuator make respectively first group of arm and second group of arm along relative to direction move with about equally angular velocity.
First group of arm has upper arm and underarm optionally among the embodiment at one of the present invention, and second group of arm has upper arm and underarm.Moving of two groups of arms can or have an end of the underarm that is connected to first group of arm pivotally through pair of engaged gears and the coordination of the bindiny mechanism of an opposite end of the underarm that is connected to second group of arm pivotally.Pair of engaged gears or bindiny mechanism also can be connected to the upper arm and an opposite end that is connected to the upper arm of second group of arm of first group of arm.Can use at least one pair of gear or at least one bindiny mechanism.
Carrier module preferably has at least one vertical track, and has from its outward extending carriage.The opposite end of second group of arm is connected to carriage pivotally.Carrier module has the device that is used for receiving drilling tool above that above that.Drive unit plays a part vertically to move drilling tool along track.Drive unit can be hydraulic pressure or pneumatic cylinders, revolving actuator, tooth bar-with-pinion, pulley-with-bobbin and similar mechanism.In a preferred embodiment, drive unit is connected to carrier module and is connected to drilling tool.Optionally, drive unit can only be connected to drilling tool and direct backup rig floor, so that drilling tool is risen and decline.Even having the track of the groove of the channel type that is used to receive roller, to be used as track-type facilities be preferably so that the vertical stability that moves of drilling tool to be provided in the present invention; But also can optionally obtain identical stability through drive unit being connected to drilling tool; Like this, tie point is corresponding with the center of gravity of drilling tool or align under the situation of not using track.
Description of drawings
Fig. 1 is the phantom drawing of hinged handling equipment of the present invention.
Fig. 2 is the side elevation of hinged handling equipment of the present invention, and it illustrates the equipment that is in the memory location especially.
Fig. 3 is the side elevation of a preferred embodiment of hinged handling equipment of the present invention.
Fig. 4 illustrates first side elevation of embodiment optionally of hinged handling equipment of the present invention, and it illustrates actuator especially is how to be connected between base, connector and the carrier module.
Fig. 5 is another side elevation of embodiment optionally of hinged handling equipment of the present invention, and it illustrates second group of arm especially is how by a pair of gear drive.
Fig. 6 is another side elevation of embodiment optionally of hinged handling equipment of the present invention, and therein, second group of arm driven by bindiny mechanism.
Fig. 7 is the side elevation of the optionally embodiment of hinged handling equipment of the present invention, therein, uses the combination of mechanical actuation device and actuator devices.
Fig. 8 is the further optionally side elevation of embodiment of of hinged handling equipment of the present invention, and therein, drilling tool moves up and down through the actuator of direct backup rig floor.
Fig. 9 illustrates the mobile outlet that is suitable for through control and the ratio enter the mouth into expectation of the flowing flow chart with the hydraulic system of the speed drive actuator expected.
The specific embodiment
With reference to Fig. 1, the hinged handling equipment 10 according to the preferred embodiments of the present invention is shown.Hinged handling equipment 10 comprises base 12, first group of arm 14, connector 16, second group of arm 18, carrier module 20 and a pair of actuator 22 and 24.In Fig. 1, can see that hinged handling equipment 10 is in its expanded position.Drilling tool 26 suppressed by vector assemblies 20 receive, so that be positioned in the position of the expectation on the well head or on the rat hole.Drilling tool 26 can be a kind of in many parts, but for example power tongs, driller, drill string, top-drive device, casing tongs, bucket, set upright instrument and other application apparatus arbitrarily.Hinged handling equipment 10 of the present invention will move drilling tool 26 to expanded position from " loaded " position.
In Fig. 1, can see that base 12 is suitable for being placed on the rig floor 28 of rig.Especially, base 12 can be fixed on the rig floor 28 through the position of a plurality of bolts 30 in expectation.Base portion 12 rotatably is mounted to rig floor, so that only in horizontal plane, rotate.Base can have hydraulic pressure or the motor 31 that is connected to it, so that allow base portion suitably to rotate with respect to rig floor.Optionally, base portion 12 can support connecting portion through rotating disk and suitably install, so that permission manual operation and conditioning equipment 10 are with respect to the angle orientation of well head.Suitable flanged connecting portion for example shown in Fig. 1, can be used to base 12 is fixed in the position of expectation effectively.Base portion 12 comprises along common L shaped framework 34 upwardly extending flanged parts 32.Connecting portion between base portion 12 and the rig floor should be suitably enough firm in to support through drilling tool 26 from the mobile cantilever effect that cause of its " loaded " position to its expanded position.
First group of arm 14 comprises the upper arm 36 and underarm 38 that common parallel relationship ground extends.Upper arm 36 has an end on the top of the L shaped framework 34 that is connected to base 12 pivotally.The opposite end 41 of upper arm 36 is connected to connector 16 pivotally.One end of underarm 38 is connected to base 12 pivotally.An opposite end of underarm 38 is connected to part 16 in succession pivotally.Actuator 22 also be connected to pivotally base 12 L shaped framework 34 the bottom and stretch out from it so that the gusset on the underarm 38 46 is connected in the position between its end 42 and 44.Likewise, when actuator 22 is operated, the introducing of fluid pressure in actuator 22 will be easy to make arm 36 and 38 to move up.
Second group of arm 18 comprises upper arm 50 and underarm 52.Upper arm 50 has an end 54 that is connected to connector 16 pivotally and the opposite end 56 that is connected to carrier module 20 pivotally.Underarm 52 has an end 58 that is connected to connector 16 pivotally and an opposite end 60 that is connected to carrier module 20 pivotally.Actuator 24 has an end that is connected to part 16 in succession pivotally and is connected to an opposite end of the gusset 66 that extends from underarm 52 pivotally.But connector is to see, owing to actuator 22 and 24 is used in the preferred embodiments of the present invention, so upper arm 36 and 50 does not need bindiny mechanism with underarm 38 and 52.Likewise, can avoid the wearing and tearing relevant effectively with such connecting elements.
In Fig. 1, can see, there is the motor 80 that is installed on the base portion 12 and is connected to L-framework 34, so that allow the rotation of hinged handling equipment 10 to move if necessary.Can use a plurality of other motor structures so that obtain this effect.Valve module 82 is positioned on the base portion 12, so that allow hydraulic pressure or pneumatic fluid to be introduced into actuator 22 and 24.
First group of arm 14 comprises arm 84 and 86. Arm 36 and 38 parallel relationships ground extend. Arm 84 and 86 parallel relationships ground extend. Arm 36 and 38 is extending in the common vertical plane usually.Similarly, arm 84 and 86 also extends in common vertical plane with the vertical plane parallel spaced-apart relation ground that arm 36 and 38 extends therein.Connector 16 has first connector 89 that is connected to arm 36 and 38 pivotally.Another connector 90 is connected to the end of arm 84 and 86 pivotally.First joint member 89 and location, second connector, 90 relation spaced in parallel to each other ground.Second group of arm 18 also comprises arm 92 and 94 (not shown in figure 1)s.Arm 92 and 94 common parallel relationship ground extend. Arm 50 and 52 is arranged in common vertical plane.Arm 92 and 94 also is arranged in this common vertical plane.These common vertical plane are relation spaced in parallel to each other.Arm 92 and 94 is connected to second connector 90 pivotally. Arm 50 and 52 is connected to first part 89 in succession pivotally.
Fig. 2 illustrates the of the present invention hinged handling equipment 10 that is in its " loaded " position.In fact all parts are arranged in the position above the base portion 12.First group of arm 14 vertically extends upward from base 12.Joint member 16 directly be positioned at base 12 above.Second group of arm 18 also vertically extends on base portion 12.Actuator 22 is shown as and is in usually in the vertical orientation, and is positioned between first group of arm 14 and the second group of arm 18.Carrier module 20 is shown as to have from the outward extending a little vertical track 72 of base portion 12.Carrier module 20 remains in the common vertical orientations, and is folded so that near second group of arm 18.Can see, hinged handling equipment 10 of the present invention can be moved to each parts therein on rig floor with structure closely each other fitly against the " loaded " position of location.Can see that hinged handling equipment 10 of the present invention has relatively little profile and track on the space usually closely rig floor.
Fig. 3 illustrates the of the present invention hinged handling equipment 10 that is in its expanded position.Can see that base 12 has from its outward extending first group of arm 14.Actuator 22 is received in fluid pressure wherein, so that outwards promote piston 112 from it.This correspondingly applies power on gusset 46, so that from the outside pusher arm of " loaded " position (as shown in Figure 2).Can see that each in first group of arm 14 is connected to the L-shape framework 34 of base 12 pivotally in different positions.Arm 36 and 38 opposite end are connected to first connector 89 pivotally.Similarly, arm 50 and 52 is connected to an opposite side of first connector 89 pivotally.Actuator 24 suitably activates, so that outwards promote piston 114 from it, so that on gusset 66, work.Again, this outwards promotes second group of arm 18 from " loaded " position.In arm 50 and 52 the opposite end each is connected to carriage 70 pivotally.Use at least one or a plurality of actuator 22.Use at least one or a plurality of actuator 24.
As shown in Fig. 1 here-3, hinged handling equipment 10 obtains to be superior to a large amount of advantage of prior art.Can see that hinged handling equipment 10 of the present invention has the bindiny mechanism and the rotating member of minimum number.Likewise, the present invention is easy to make the such bindiny mechanism and the minimise wear of rotating member.Shown in Fig. 1-3, the present invention does not use synchronous connecting rod between rotating member.Likewise, the present invention avoids the main load path of such simultaneous attachment mechanism, and the result avoids any possible wearing and tearing and the fracture of such bindiny mechanism.In the prior art, synchronous connecting rod is relatively little and fragile.In the present invention, drilling tool moves and is absorbed by the total of equipment with so mobile relevant cantilever effect.The present invention allows drilling tool easily to move to expanded position from " loaded " position." loaded " position provides relatively little track and the profile in the drill configuration.The present invention is placed as contiguous well head or rat hole with vertical the moving of drilling tool.Additionally, this vertically moves and is positioned at away from the zone of derrick structure with the maintenance circuit that is connected with such derrick structure.Contilever load and overturn moment distribute in hinged handling equipment 10 better.Maintenance and the manufacturing easily of hinged handling equipment 10.Hydraulic pressure or pneumatic actuator are used among the present invention, play main load supporting element.Likewise, wearing and tearing and fault rate are minimized.Though only construct two groups of arms and one group of connector in a preferred embodiment; But if necessary; The the 3rd or the 4th group of arm also may be added to the end of second group of arm, between second and the 3rd group of arm, has additional connector, so that the extra longer extension to well heart position to be provided.Connector can reverse up and down with many group arms.
Fig. 4 illustrates one of hinged handling equipment of the present invention optionally embodiment 200.In Fig. 4, can see having from its outward extending first group of arm 204 from base 202.Actuator 206 has and is connected to from an end of the L-shape framework 208 of base 12 pivotally and is connected to an opposite end of connector 210 pivotally.Actuator 206 is positioned between upper arm 212 and the underarm 214 and extends.Use at least one or a plurality of actuator 206.Use at least one or a plurality of actuator 222.
Second group of arm 216 also is connected to an opposite side of connector 210 pivotally.Second group of arm 216 comprises upper arm 218 and underarm 220.Actuator 222 has an end that is connected to connector 210 pivotally and is connected to an opposite end of carriage 224 pivotally.The opposite end of upper arm 218 and underarm 220 also is connected to carriage 224 pivotally.Carriage 224 with track 226 supportings above that.Arm 228 stretches out from the upper end of vertical track 226.Actuator 230 is connected to arm 228 and also is connected to drilling tool 232, so that allow drilling tool 232 along track 226 and with respect to rig floor upwards and move down.As used herein, each in the actuator 206 and 222 can comprise a plurality of actuators.
Another embodiment optionally that Fig. 5 illustrates hinged handling equipment 300 of the present invention.Hinged handling equipment 300 comprises from base 302, first group of arm 304, second group of arm 306, connector 308 and bracket component 310.Actuator 312 works on first group of arm 304.First group of arm 304 comprises upper arm 314 and underarm 316.Upper arm 314 is connected to base 302 pivotally with underarm 316.Similarly, actuator 312 also is connected to from base 302 pivotally.The opposite end of actuator 312 is connected to from underarm 316 to the gusset that extends below 318 pivotally.Upper arm 314 is connected to a side of connector 318 pivotally.The opposite end of underarm 316 also is connected to the sidepiece of connector 308 pivotally.Important ground exists to be connected to the end of underarm 316 and to be positioned in the gear 320 in the plate of connector 318.Gear 320 meshes with another gear 322 of the underarm 324 that is connected to second group of arm 306.The upper arm 326 of second group of arm 306 has an end that is connected to connector 308 pivotally and is connected to an opposite end of carriage 328 pivotally.The opposite end of underarm 324 also is connected to carriage 328 pivotally.Carrier module 310 has and the similar structure of describing hereinbefore.
In Fig. 5, can see that when actuator 312 works to load when between expanded position, moving first group of arm 304, meshing gear 320 and 322 will play a part to make second group of arm 306 also to move to flared position.Likewise, the present invention acts on gear 320 and 322 usefulness and causes the suitable bindiny mechanism that move of hinged handling equipment 300 between memory location and expanded position.A pair of gear also can be connected to an any arm and an opposite end that is connected to second group of any another arm in the arm of first group of arm.Use at least one pair of gear.
Another embodiment optionally that Fig. 6 illustrates hinged handling equipment 400 of the present invention.As shown in Figure 6, hinged handling equipment 400 is to comprise base 402, first group of arm 404, second group of arm 406, connector 408 and carrier module 410 with the similar structure shown in Fig. 1-3.Actuator 412 works on first group of arm 404.First group of arm 404 comprises upper arm 414 and underarm 416.Second group of arm 406 comprises upper arm 418 and underarm 420.Actuator 412 is connected to base 402 pivotally and is working to the gusset that extends below 422 from underarm 416.
In Fig. 6, can see, there has been the link gear 424 that elbow underarm 416 is connected to the effect of elbow underarm 420.Link gear normally straight line and have the hole at each end.Underarm 416 and 420 has the common elbow end 436 and 430 that is connected to connector 408 pivotally respectively.Link gear 424 is connected to underarm 416 pivotally at an end of pivotal point 434, is connected to underarm 420 pivotally at the other end of pivotal point 428.Optionally, link gear 424 can be connected to any arm of first group of arm pivotally and be connected to an arm in second group of arm.Use at least one link gear.
The use of the link gear 424 of this form of the present invention provides a kind of optionally mechanical actuation device to move to coordinate the angled of first group and second group arm.Link gear 424 allows hinged handling equipment 400 moving between memory location and expanded position.
Fig. 7 illustrate the combination of adopting mechanical actuation device and actuator devices with equipment from the memory location to one of expanded position expansion embodiment optionally.That describes among the structure among this embodiment and Fig. 5 hereinbefore is similar, adds to have an end 332 that is connected to connector 308 pivotally and the actuator devices 24 that is connected to the other end 330 of the gusset 66 that is connected to underarm pivotally.
Another embodiment optionally that Fig. 8 illustrates hinged handling equipment 600 of the present invention.Embodiment before is the same, and hinged handling equipment 600 comprises base 602, first group of arm 606, connector 608, second group of arm 610 and second actuator 612.These parts are to arrange with the similar methods that combines Fig. 1-3 to describe hereinbefore.Important ground, carrier module 614 is different with before embodiment.
In Fig. 8, can see that carrier module 614 comprises the carriage 616 that has from its vertical track 618 that upwards vertically extends.Important ground, drilling tool 620 is connected to the roller 622 and 624 in the passage that is received in vertical track 618.There is the actuator 626 that is connected to drilling tool 620.Actuator 626 has can be through using hydraulic pressure or the outward extending piston 628 of Pneumatic pressure, so that backup rig floor 630.Likewise, drilling tool 620 can make progress along the power that track 618 promotes on drilling tool 620 with respect to actuator 626 and move down.In this embodiment, actuator 626 is by drilling tool 620, transports and can't help carrier module 614.As see here, the whole cantilevered weights of drilling tool discharges from hinge apparatus itself, and instead, weight is supported by actuator 626, therefore causes the general stability that in operating process, improves equipment.This is another advantage that adopts carrier module, because carrier module allows drilling tool along carrier upwards and/or move down.
Fig. 9 illustrates the hydraulic diagram 700 that is used for moving in an identical manner first and second actuators.Important ground, this system 700 is connected to first actuator and second actuator so that make fluid pass to these actuators, like this, actuator along relative to direction move first group of arm and second group of arm with about equally speed.At first, can see that valve 82 is connected to pressure piping 702.Valve 82 will make fluid flow and outwards pass to separately first actuator 708 and second actuator 710 along pipeline 704 and 706.Likewise, these actuators 708 and 710 piston separately 712 and 714 can equate or the speed of any desired outwards moves from it usually.Flowing of the opposite side of the piston in the actuator 708 and 710 can outwards be flowed from it through pipeline 716 and 718 along pipeline 720.Likewise, valve 82 plays current divider, so that will enter the mouth flow distribution in a pair of outlet with the speed of expectation.The sketch map of Fig. 9 also can be used for a plurality of actuators.Likewise, actuator 708 can be a plurality of actuators, and actuator 710 can be a plurality of actuators.
The content disclosed by the invention of front and description are that it is illustrative and indicative.Can be in the scope at appending claims under the situation that does not deviate from real spirit of the present invention to shown in the details of structure carry out a plurality of changes.The present invention should be only by following claims and legal equivalent restriction thereof.
Claims (36)
1. hinge apparatus that is used to carry drilling tool comprises:
A base;
First group of arm one end and base hinge joint also stretch out;
The opposite end hinge joint of a connector and first group of arm;
Second group of arm one end and connector hinge joint also stretch out from it;
A carrier module and second group of arm opposite end hinge joint, said carrier module can transport drilling tool, moves up and down this drilling tool.
2. equipment as claimed in claim 1 also comprises:
Be used between memory location and expanded position, moving the drive unit of this drilling tool.
3. equipment as claimed in claim 2, said drive unit comprises:
First actuator of at least one arm hinge joint in one end and the base hinge joint other end and the first group of arm, first actuator at least one; With
Second actuator of at least one arm hinge joint in one end and the connector hinge joint other end and the second group of arm, second actuator at least one.
4. equipment as claimed in claim 3, said drive unit also comprises:
Be connected to the fluid delivery system of first actuator and second actuator; Said fluid delivery system is used to make fluid to pass to first and second actuators; Like this, first and second actuators make said first group of arm and said second group of arm respectively along relative direction of rotation with about equally angular velocity rotation.
5. equipment as claimed in claim 1, said first group of arm comprises:
The first arm of one end and the base hinge joint other end and connector hinge joint; With
Second arm of one end and the base hinge joint other end and connector hinge joint, parallel when said the first arm extends with second arm.
6. equipment as claimed in claim 5, said first group of arm also comprises:
The 3rd arm of one end and the base hinge joint other end and connector hinge joint; With
The 4th arm of one end and the base hinge joint other end and connector hinge joint; Said the first arm and said second arm extend in common vertical plane, and said the 3rd arm and said the 4th arm are to extend respectively with in the common vertical plane of the said the first arm and the second arm spaced and parallel.
7. equipment as claimed in claim 1, said second group of arm comprises:
The first arm of one end and the connector hinge joint other end and carrier module hinge joint; With
Second arm of one end and the connector hinge joint other end and carrier module hinge joint, said the first arm is to extend with said second arm parallel relation ground.
8. equipment as claimed in claim 7, said second group of arm also comprises:
The 3rd arm of one end and the connector hinge joint other end and carrier module hinge joint; With
The 4th arm of one end and the connector hinge joint other end and carrier module hinge joint; Said the first arm and said second arm extend in common vertical plane, and said the 3rd arm and said the 4th arm are to extend respectively with in the common vertical plane of said the first arm and the said second arm spaced and parallel.
9. equipment as claimed in claim 1, said carrier module have from its outward extending carriage, the said opposite end of said second group of arm and carrier module hinge joint.
10. equipment as claimed in claim 2, said drive unit comprise the hydraulic pressure that is connected to said carrier module or pneumatic actuator or revolving actuator in case with this drilling tool cooperation.
11. equipment as claimed in claim 1, said carrier module comprises:
Vertically extending first track; With
With with vertically extending second track in said first orbital spacing parallel relation ground; With a plurality of rollers that are suitable for being connected to drilling tool, said a plurality of rollers are installed with respect to said first and second tracks, so that the permission drilling tool makes progress and moves down.
12. a hinge apparatus comprises:
Drilling tool;
A base;
First group of arm one end and base hinge joint also stretch out;
The opposite end hinge joint of a connector and first group of arm;
Second group of arm one end and connector hinge joint also stretch out from it;
A carrier module and second group of arm opposite end hinge joint, said carrier module can transport drilling tool, moves up and down this drilling tool; With
Be used between memory location and expanded position, moving the drive unit of said drilling tool.
13. equipment as claimed in claim 12, said drive unit comprises:
At least one first actuator, an end and base hinge joint, opposite end and said first group of arm hinge joint, the position is among its end; With
At least one second actuator, an end and connector hinge joint, opposite end and said second group of arm hinge joint, the position is in its end.
14. equipment as claimed in claim 12, said drive unit comprises:
At least one first actuator, an end and base hinge joint, opposite end and the hinge joint of said connector; With
At least one second actuator, an end and connector hinge joint, opposite end and said second group of arm hinge joint, the position is among its end.
15. equipment as claimed in claim 12, said drive unit comprises:
At least one first actuator, an end and base hinge joint, opposite end and said first group of arm hinge joint, the position is among its end; With
At least one second actuator, an end and connector hinge joint, opposite end and the hinge joint of said carrier module.
16. equipment as claimed in claim 12, said drive unit comprises:
At least one first actuator, an end and base hinge joint, opposite end and the hinge joint of said connector; With
At least one second actuator, an end and connector hinge joint, opposite end and the hinge joint of said carrier module.
17. equipment as claimed in claim 13, said drive unit also comprises:
Be connected to the fluid delivery system of first actuator and second actuator; Said fluid delivery system is used to make fluid to pass to first actuator and second actuator; Like this, first and second actuators make said first group of arm and said second group of arm respectively along relative to direction move with about equally angular velocity.
18. equipment as claimed in claim 17, this actuator are hydraulic pressure or pneumatic cylinders or revolving actuator.
19. equipment as claimed in claim 12, said carrier module comprises:
Carriage with the hinge joint of the opposite end of described second group of arm; Be connected to the vertical track of said carriage; With
A plurality of rollers that are positioned at movably on the said vertical track, said drive unit and said carrier module cooperation are used for moving said drilling tool along said vertical track.
20. a hinge apparatus that is used to carry drilling tool comprises:
A base;
First group of arm one end and base hinge joint also stretch out;
The opposite end hinge joint of a connector and first group of arm;
Second group of arm one end and connector hinge joint also stretch out from it;
A carrier module and second group of arm opposite end hinge joint, said carrier module can transport drilling tool, moves up and down this drilling tool;
Be connected to said first group of arm and be used to make the inside and outside actuator devices that moves of said first group of arm; With
Be connected to first group of arm or interconnect and inwardly be used for and the mechanical actuation device that outwards drives said second group of arm with it.
21. equipment as claimed in claim 20, said actuator devices comprises:
At least one actuator, an end and base hinge joint, opposite end and said first group of arm hinge joint, the position is among its end.
22. equipment as claimed in claim 20, said actuator devices comprises:
At least one actuator, an end and base hinge joint, opposite end and the hinge joint of said connector.
23. equipment as claimed in claim 20, said actuator devices are hydraulic pressure or pneumatic cylinders or revolving actuator.
24. equipment as claimed in claim 20, said mechanical actuation device are a pair of gears.
25. equipment as claimed in claim 20, said mechanical actuation device is a mechanical linkage which controls.
26. equipment as claimed in claim 20, said carrier module comprises:
Carriage with the hinge joint of the opposite end of described second group of arm;
A vertical track that is connected with said carriage;
Be positioned at a plurality of rollers on the said vertical track movably, said bracket component is suitable for receiving drilling tool above that; With
The drive unit that is used to make drilling tool to move with said bracket component cooperation along said vertical track.
27. one kind is used for and the common hinge apparatus that uses of rig floor, comprises:
Drilling tool;
A base;
First group of arm one end and base hinge joint also stretch out;
The opposite end hinge joint of a connector and first group of arm;
Second group of arm one end and connector hinge joint also stretch out from it;
A carrier module and second group of arm opposite end hinge joint, said carrier module transports drilling tool; With
Use the drive unit that makes said drilling tool make progress and move down with said drilling tool cooperation with respect to rig floor.
28. equipment as claimed in claim 27, said drive unit are used to make said drilling tool upwards with vertically down to move.
29. equipment as claimed in claim 27, said drive unit be tooth bar-with-pinion assemblies.
30. equipment as claimed in claim 27, said drive unit be pulley-with-bobbin assembly.
31. equipment as claimed in claim 27, said drive unit is an actuator.
32. equipment as claimed in claim 31, actuator are hydraulic pressure or pneumatic cylinders or revolving actuator.
33. equipment as claimed in claim 31, this actuator are connected to said drilling tool and are connected to said carrier module.
34. equipment as claimed in claim 31, this actuator only is connected to said drilling tool, and said actuator is suitable for direct backup rig floor, so that make this drilling tool with respect to this rig floor upwards and move down.
35. equipment as claimed in claim 27, said base have hydraulic motor or the motor that is connected to it, so that allow this base portion with respect to this rig floor rotation.
36. a hinge apparatus that is used to carry drilling tool comprises:
A base;
First group of arm one end and base hinge joint also stretch out;
Second group of arm one end and connector hinge joint also stretch out from it;
A plurality of connectors;
Have one group of additional arm between said first group of arm and the said second group of arm at least, wherein, each group in said first and second groups of arms and this connector hinge joint, wherein, at least one actuator and connector hinge joint;
A carrier module and second group of arm opposite end hinge joint, said carrier module can transport drilling tool, moves up and down this drilling tool; With
Be connected to said first group of arm and be used to make the inside and outside actuator devices that moves of said first group of arm.
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US26068109P | 2009-11-12 | 2009-11-12 | |
| US61/260,681 | 2009-11-12 | ||
| US12/843,213 | 2010-07-26 | ||
| US12/843,213 US20110108265A1 (en) | 2009-11-12 | 2010-07-26 | Articulated apparatus for handling a drilling tool |
| US12/944,291 US8534386B2 (en) | 2009-11-12 | 2010-11-11 | Articulated apparatus for handling a drilling tool |
| US12/944,291 | 2010-11-11 | ||
| PCT/US2010/056545 WO2011060270A2 (en) | 2009-11-12 | 2010-11-12 | Articulated apparatus for handling a drilling tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102597414A true CN102597414A (en) | 2012-07-18 |
Family
ID=43973286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010800511882A Pending CN102597414A (en) | 2009-11-12 | 2010-11-12 | Articulated apparatus for handling a drilling tool |
Country Status (4)
| Country | Link |
|---|---|
| US (2) | US20110108265A1 (en) |
| CN (1) | CN102597414A (en) |
| CA (1) | CA2781088A1 (en) |
| WO (1) | WO2011060270A2 (en) |
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| CN103334706A (en) * | 2013-07-11 | 2013-10-02 | 济南金力液压机械有限公司 | Drill pipe racking mechanical arm |
| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
| CN105291087A (en) * | 2015-11-30 | 2016-02-03 | 国网重庆市电力公司电力科学研究院 | Hot-line working robot |
| CN106986180A (en) * | 2017-05-02 | 2017-07-28 | 岳西县科盛机电有限公司 | A kind of automatic carriage of Two axle drive |
| CN107054195A (en) * | 2017-05-02 | 2017-08-18 | 岳西县科盛机电有限公司 | A kind of automation transport vehicle |
| CN107521632A (en) * | 2013-05-06 | 2017-12-29 | 伊特里克公司 | Well drilling system, offshore drilling vessel therefor, drilling method and exchange method |
| CN107869311A (en) * | 2016-09-23 | 2018-04-03 | 哈尼斯菲格技术公司 | Derrick with rack assembly |
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| WO2021017528A1 (en) * | 2019-07-28 | 2021-02-04 | 南京驭逡通信科技有限公司 | Arm stretching and bending mechanism for industrial robot |
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| CN111886396B (en) | 2017-10-30 | 2023-01-06 | 钻探技术服务有限公司 | Ground clamp for drilling machine |
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| CN107521632A (en) * | 2013-05-06 | 2017-12-29 | 伊特里克公司 | Well drilling system, offshore drilling vessel therefor, drilling method and exchange method |
| CN103334706A (en) * | 2013-07-11 | 2013-10-02 | 济南金力液压机械有限公司 | Drill pipe racking mechanical arm |
| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
| CN105291087A (en) * | 2015-11-30 | 2016-02-03 | 国网重庆市电力公司电力科学研究院 | Hot-line working robot |
| CN107869311A (en) * | 2016-09-23 | 2018-04-03 | 哈尼斯菲格技术公司 | Derrick with rack assembly |
| CN107869311B (en) * | 2016-09-23 | 2021-02-26 | 久益环球地表采矿公司 | Derrick with rack assembly |
| CN106986180A (en) * | 2017-05-02 | 2017-07-28 | 岳西县科盛机电有限公司 | A kind of automatic carriage of Two axle drive |
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| CN109138897A (en) * | 2018-09-26 | 2019-01-04 | 北京威力清矿山控制技术有限公司 | Well head centralising device and with its well workover equip |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2011060270A3 (en) | 2011-09-29 |
| US20110108265A1 (en) | 2011-05-12 |
| WO2011060270A2 (en) | 2011-05-19 |
| US20110108264A1 (en) | 2011-05-12 |
| CA2781088A1 (en) | 2011-05-19 |
| US8534386B2 (en) | 2013-09-17 |
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Legal Events
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| PB01 | Publication | ||
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Application publication date: 20120718 |